Serial-to-parallel hydraulic device



I United States Patent 1' I 3,550,630

[72] Inventor Hugo A. Panissidi 3,198,084 8/1965 Hague et a1 r. 91/37X Peekskill,N.Y. 3,156,157 11/1964 Smith I /201 X [21] Appl. No. 695,139 3,198,084 8/1965 Hague 91/37 [22] Filed 1968 Prima 'ExaminerA1an Cohan {45 I patiz'med 1970 A ttoniZvs- Hanifin and Jancin and Graham 8. Jones 11 [73] AssIgnee International Business Machines Corporation Armonk, N.Y. a corporation of New York ABSTRACT: A hydraulically operated manipulator is con- 54 SERIAL-TO-PARALLEL HYDRAULIC DEVICE 99" as aummfitic assembly "9 E and w Claims 27 Drawing Figs oin parts. A tape is perforated with coded InstructIons and drmensrons to control the sequence and amount of displace- U-S-Cl. ment means of incremental motions in several modes of 9 movement of the manipulator. Such modes include grip, [5 1] Int. weep X Y, Z (arcuate gripper wrist motion) and earch 6 5 19/00 (vibratory parts matching such as inserting a pin in a hole). of Search 91/37(CL11'- The main omponents of the manipulator are a tape reader an 303 35, 36, 214/70, 113, 132-4, electrically and hydraulically controlled hydraulic serial-to- 624-1 624-18, 624-2, 635 parallel converter and memory and a hydraulic driver, integer and fraction hydraulic piston adders, an articulated series Of [56] References Cited X, Y, Z slide members with a gripper and a wrist member all UNITED STATES PATENTS driven by a common drive cable, and a vibratory hydraulic 3,072,146 1/1963 Gizeski 137/552 search mechanism.

SERIAL DIGITAL INPUTS ,soo

ELECTRICAL CIRCUITS A01 SERIAL BY SERIAL-T0- CHARACTER INPUTS 228 PARALLEL as CONVERTER 2s CONVERTER DATA vAI vEs I SYNCHRONIZATION CONTROL THREE POsITIoN PORT SWITCHING TOWER A102 SECTION STEPPING MODE INTEGER FRACTION DRIVE MEMORY MEMORY MEMORY VALVES VALVES VALVES T6 PARALLEL BY men OUTPUTS 4 SWEEP I5 CONTROL PISTON ADDERS, 35

LOGIC I TREE 26% SEARCH CABLE AND CONTROL PULLEYS 69 GRIP 26' 392 coNTRoI.

e CONTROL SERIAL DIGITAL'INPUTS /-800 ELECTRICAL CIRCUITS 2 SERIAL BY D SERIAL-W0 CHARACTER INPUTS 22 PARALLEL )3 CONVERTER 26 CONVERTER DATA VALVES SYNCHRONIZATION I CONTROL THREE POSITION PORT SWITCHING TOWER SECTION MODE INTEGER FRACTION STEPPING DRIVE MEMORY MEMORY MEMORY vALvEs VALVES VALVES Is PARALLEL BY L229 DIGIT OUTPUTS --R- j l... SWEEP 75 CONTROL PISTON ADDERS L LOGIC SEARCH TREE -2e2- CABLE AND L.

CONTROL. PULLEYS 69 GRIP 261 392 415 408/ CONTROL L e CONTROL 9 GEAR z CONTROL 2 ARM Y CONTROL Y ARM ,381' 38 1 x CONTROL x ARM INvENTOR HUGO A. PANISSID! ATTORNEY PATEN TEn-ntcze 19m sum 02 or 21 FIG. 2

PATENTED m2 9 19m sum as or .21

MAxmuu DISPLACEMENT CONVERSION CHART FOR 9 MODE (9 Yr+ Z MODES TOTAL PATENTEU 050291916 sum as or 21 PATENTEnuiczsl sm 3,550,630

saw us or 21 \(J STEP CONTROL VALVE CONTROL 63 PATENTFU UEC29 19m SHEET 10 0F 21 FIG. 12 PISTON ADDERS AT ZERO a ags 2150 2: l. 1 I I1 PATENTED 056291970 SHEET 15 0F 21 FIG. 14E

PATENTED HECZQ rem SHEET 180F21 to as 1 a) co N FIG. 14 H P e 2 T U. 52 U.

g s? E3 0' 5 I m u. i 2

LI. u E 

